CN106054880A - K60-based electromagnetic guiding intelligent tracking logistics vehicle - Google Patents
K60-based electromagnetic guiding intelligent tracking logistics vehicle Download PDFInfo
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- CN106054880A CN106054880A CN201610409355.5A CN201610409355A CN106054880A CN 106054880 A CN106054880 A CN 106054880A CN 201610409355 A CN201610409355 A CN 201610409355A CN 106054880 A CN106054880 A CN 106054880A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention discloses a K60-based electromagnetic guiding intelligent tracking logistics vehicle, which is mainly formed by a microprocessor module, a mechanical system, an electromagnetic sensing module, a power management module, a motor drive module, a steering engine drive module, an ultrasonic parking module and an upper computer module, wherein the mechanical system, the electromagnetic sensing module, the power management module, the motor drive module, the steering engine drive module, the ultrasonic parking module and the upper computer module are connected with the microprocessor module through data lines. Not only the operation efficiency and service quality of the whole workshop system are improved, and cost is reduced, but also the core competence and economic benefits of enterprises are improved; and the electromagnetic guiding intelligent tracking logistics vehicle is small in occupied area, is convenient and beautiful and improves the images of the enterprises.
Description
Technical field
The present invention relates to logistic car, a kind of electromagnetic guide formula Intelligent tracking logistic car based on K60.
Background technology
After " industry 4.0 " of Germany is released, the set general plan of " made in China 2025 " is also published.And China
Manufacturing industry mostly is labor-intensive conventional industries, and especially for intermittent flow waterline, it is longer that product appears in activity time
The insufficient phenomenon of the load in the shorter place of working of the first-class to be processed and activity time in place of working (see document: money sesame net, Wang Xiao
Light, Zhang Li. production logistics equilibrium strategy study [J] based on flexible production. Industrial Engineering and Management, 2012,02:13-20+
50.).In addition, with the rigidity production model that can only produce in enormous quantities of streamline of industry 3.0 except that, " industry
4.0 " streamline requires to realize small lot, multiple batches of production, and minimum batch can reach one, say, that permissible
For consumer's customized isolated version commodity, i.e. flexible production pattern (see document: Liang Dong. the understanding [J] to flexible production. business
Research, 2001,09:26-28.).The marrow of flexible production is to realize elastic production, improves the adaptability to changes of enterprise, constantly full
The demand of foot user (see document: Xu Nin. enterprise under large-scale customization produces flexibility research [D]. Xian Electronics Science and Technology University,
2007).This production process allowing for product is no longer unalterable, needs to use different production according to different orders
Operation.So, between each station on production line, just have different combinations, need contingency and the good intelligence of accuracy
Transporting equipment is intelligent distribution manufactured parts between each station.
Summary of the invention
The technical problem to be solved is: provide a kind of electromagnetic guide formula Intelligent tracking logistic car based on K60,
To solve the various problems that enterprise is faced during manufactured parts intelligent distribution, it is achieved commercial production height is intelligent, certainly
Dynamicization, flexibility.
The present invention solves its technical problem and uses following technical scheme:
The electromagnetic guide formula Intelligent tracking logistic car based on K60 that the present invention provides, it is mainly by microprocessor module, with
And be connected with microprocessor module by data wire mechanical system, electromagnetic sensing module, power management module, motor driving mould
Block, servo driving module, ultrasound wave parking module, upper computer module form.
Described microprocessor module, is contained in the middle part of logistic car, processes for the information being inputted sensor
And other module is controlled in real time, by microcontroller, SR, power interface, JTAG download interface and other input
Output interface forms, and described microcontroller uses K60 microcontroller chip.
Described mechanical system, for the driving of logistic car with turn to, by motor drive module, gear drive and
Servo driving module forms, wherein: motor drive module uses RS-540 motor to be driven trailing wheel, after electric machine rotation, logical
Cross gear mechanism and power is passed to trailing wheel, drive rear wheel movement, have differential mechanism, with both subsidiary streams car more between two trailing wheels simultaneously
Turn smoothly；Servo driving module uses SD-5 steering wheel, and steering wheel turns an angle and imparts power to front-wheel by fork,
Complete left and right and beat angle, it is achieved the turning of logistic car.
Described electromagnetic sensing module, is contained in the front end of logistic car, and it is by the LC resonance circuit being connected with the signal of telecommunication, filtering
Circuit, amplifying circuit, detecting circuit form, and it is according to the principle of LC resonance, chooses 10mH inductance and 6.8nF electric capacity is humorous as LC
Shake circuit, produces faradic current, then by filtering, amplification, detection, then result is sent into single-chip microcomputer and carries out AD process, to sentence
Disconnected road current information.
Described motor drive module, is contained in logistic car rear portion near rear wheels, is used for driving motor, by motor and driving electricity
Road forms, wherein: drive circuit uses BTN7971 high-intensity currrent Half-bridge motor driving chip, and this circuit utilizes two panels
BTN7971 constitutes a complete full-bridge and drives, to realize the rotating forward of motor, reversion and skidding.
Described servo driving module, is contained in logistic car front end near front wheels, is used for controlling steering wheel, by power supply stabilization circuit
Forming with steering wheel, wherein: steering wheel power supply stabilization circuit is powered, this power supply stabilization circuit is by NCP3020 chip and outer
Enclose element composition, by voltage stabilizing, use the power supply of 6V to power to steering wheel.
Described ultrasound wave parking module, is contained in logistic car both sides, is used for judging whether to arrive at target lathe, and this is ultrasonic
Ripple parking module is received head by the ultrasonic emitting head being integrated on one piece of PCB and ultrasound wave and forms, and visits target lathe
Survey.
Described upper computer module, it includes the regulation and control software of bluetooth communication module and PC end, and bluetooth communication module is used for
Realizing the data transmission between host computer and microprocessor, the regulation and control software of PC end is for a certain part manufacturing procedure order
Input, is made up of, wherein communication port setting district, operation input area, operation viewing area and data reception area: communication port setting district uses
In being configured communication port, operation input area inputs corresponding operation for technologist, and operation viewing area is worked as display
Front the operation inputting or being carrying out, data receiver district is used for receiving logistic car institute feedack.
Present invention electromagnetic guide based on K60 formula Intelligent tracking logistic car is provided with coordinates measurement algorithm, and it is according to logistics
Car current location and target location automatically generate the travel path of logistic car.
Described coordinates measurement algorithm comprises the following steps:
Step 1: whether first detection simulation present coordinate values overlaps with coordinates of targets, as overlapped, exports steering order, if
Misaligned, detect current direction whether on the coordinates of targets direction relative to simulation present coordinate values, if not in correct side
To, then use step 2 to attempt being adjusted to logistic car be correctly oriented；
Step 2: owing to logistic car is likely to be at straight line portion, it is impossible to travel direction adjusts operation, is in such situation
Under, then preferentially logistic car is moved forward a step, making logistic car be in can be in the case of adjustment direction；When logistic car can be adjusted
Perfect square to time, first attempt to be adjusted to the direction of logistic car on the coordinates of targets direction relative to simulation present coordinate values；If
Coordinates of targets is relative to the direction of simulation present coordinate values just at the rear of logistic car, and logistic car can not carry out original place
180 ° of commutations, need to use step 3 to solve this problem by the way of freely commutating；
Step 3: judge the position of logistic car, the dead band of detection logistic car, specifically use the mode of simulation to carry out dead band
Detection, it may be assumed that if logistic car turns to whether this direction can form dead band, all concentrate on the periphery of road due to dead band, so
Need only to road periphery is detected；After drawing dead band information, logistic car is turned to the direction beyond dead band, if not having
Form dead band, then turn to, according to the priority set in algorithm, the direction that priority is higher；
Repeat above step 1, step 2, step 3, until simulation present coordinate values overlaps with the coordinate of target location, now
Whole calculating process terminates, the steering order output each step generated, and obtains final path.
The present invention compared with prior art has a following main advantage:
Logistic car of the present invention under industrial 4.0 production systems, the manufactured parts between different station when dispensing, dolly
The selection of running route and the problem of tracking.It just can select in fork in the road under the monitoring of host computer multi-path selecting solution system
True direction, along the electric wire track mesh motion laid in advance.When factory changes production line because of turn of the market, it is only necessary to
Electric wire is laid again.Not only increase the operational paradigm of whole workshop system, service quality, reduce cost, and
Improve enterprise core competence and economic benefit.And this electromagnetic guide formula tracking logistic car floor space is little, facilitates attractive in appearance,
Improve the image of enterprise.
The production process that logistic car of the present invention can set in upper computer end according to technologist, automatically generates traveling road
Line, is distributed to part specify station, it is achieved predetermined production process, thus forms a flexible production line.I.e. do not changing
On the premise of becoming workshop structure, only need to set different production processes according to different product demands, part can be at logistic car
Dispensing under arrive each station complete processing, it is achieved flexible production.
Logistic car of the present invention is provided with multi-path selecting solution algorithm, its manufacturing procedure that can be inputted according to technical staff,
Automatically generate course, and after electromagnetic tracking algorithm recognizes fork in the road, control logistic car and turn to.It is finally reached difference
The manufacturing procedure specified according to technical staff of part, the purpose of intelligent distribution to each station, it is achieved flexible production.
Accompanying drawing explanation
Fig. 1 is the sensor amplifier circuit schematic diagram in electromagnetic sensing module.
Fig. 2 is motor-drive circuit schematic diagram.
Fig. 3 is steering wheel power supply stabilization circuit schematic diagram.
Fig. 4 is microprocessor power supply circuit theory diagrams.
Fig. 5 is host computer interface displaying figure.
Fig. 6 is that simulation factory floor coordinate processes schematic diagram.
Fig. 7 is coordinates measurement algorithm flow chart.
Fig. 8 is simulation place, workshop schematic diagram.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is further elaborated, but does not limit the present invention..
The electromagnetic guide formula Intelligent tracking logistic car based on K60 that the present invention provides, mainly by microprocessor module, and
The mechanical system that is connected with microprocessor module by data wire, electromagnetic sensing module, power management module, motor drive mould
Block, servo driving module, ultrasound wave parking module, upper computer module form.The present invention, with k60 chip as master controller, utilizes
Electromagnetic transducer identification routing information and judge whether arrive fork in the road.Microprocessor module is collected according to electromagnetic transducer
Signal, control traveling motor and rotate and steering wheel is beaten angle and realized electromagnetic tracking and the multi-path selecting solution of logistic car.
Described microprocessor module, is contained in the middle part of logistic car, processes for the information being inputted sensor
And other module is controlled in real time, by microcontroller, SR, power interface, jtag interface and other input and output
Interface forms.Described microcontroller uses K60 microcontroller chip, and it has following performance: IEEE 1588 Ethernet, at full speed
With the charging detection of high speed USB 2.0On-The-Go carrying device, hardware encryption and tamperproof detectivity.Abundant simulation, logical
Letter, timing and control peripheral hardware start to extend to 256MAPBGA 1MB flash memory from 100LQFP encapsulation 256KB flash memory.Big flash memory
K60 family device may also provide optional single-precision floating point unit, nand flash memory controller and dram controller, and it has following
Several memory element: programming flash memory element, FlexMemory, the RAM run for program, SRAM, extension storage or outer
Enclose EBI (FlexBus), serial programming interface (EzPort).(see document: microcontroller embedded application in line development side
Method [M], Shao Beibei. Beijing: publishing house of Tsing-Hua University, 2004:16-22).
Described mechanical system, for the driving of logistic car with turn to, by motor drive module, gear drive and
Servo driving module forms, wherein: motor drive module uses RS-540 motor to be driven trailing wheel, after electric machine rotation, logical
Cross gear mechanism and power is passed to trailing wheel, drive rear wheel movement, have differential mechanism, with both subsidiary streams car more between two trailing wheels simultaneously
Turn smoothly；Servo driving module uses SD-5 steering wheel, and steering wheel turns an angle and imparts power to front-wheel by fork,
Complete left and right and beat angle, it is achieved the turning of logistic car.
Described electromagnetic sensing module, is one of most important module of logistic car, and the field signal of change can be made by it
Going out sensitive detection, the detection to condition of road surface plays vital effect.Before this electromagnetic sensing module is contained in logistic car
End, as it is shown in figure 1, it is made up of the LC resonance circuit being connected with the signal of telecommunication, filter circuit, amplifying circuit, detecting circuit, its root
According to the principle of LC resonance, choose 10mH inductance and 6.8nF electric capacity as LC resonance circuit, produce faradic current, then by filtering,
Amplification, detection, then send into result single-chip microcomputer and carry out AD process, to judge road current information.
Described motor drive module, is contained in logistic car rear portion near rear wheels, is used for driving motor, by motor and driving electricity
Road forms, wherein: as in figure 2 it is shown, drive circuit uses BTN7971 high-intensity currrent Half-bridge motor driving chip, this circuit profit
Constitute a complete full-bridge by two panels BTN7971 to drive, the rotating forward of motor, reversion and skidding can be realized well.
Described servo driving module, is contained in logistic car front end near front wheels, is used for controlling steering wheel, by power supply stabilization circuit
Forming with steering wheel, wherein: steering wheel power supply stabilization circuit is powered, this power supply stabilization circuit is by NCP3020 chip and outer
Enclose element composition, as it is shown on figure 3, by voltage stabilizing, use the power supply of 6V to power to steering wheel.Higher voltage can improve steering wheel
Response speed, but too high voltages is easily caused steering wheel job insecurity (see document: learn and do intelligent vehicle challenge " Freescale "
Cup, Zhuo Qing, Huang Kaisheng, Shao shellfish shellfish .. Beijing Aviation space flight publishing house, 2007.).
Described ultrasound wave parking module, is contained in logistic car both sides, is used for judging whether to arrive at target lathe, and this is ultrasonic
Ripple parking module is received head by ultrasonic emitting head and ultrasound wave and forms, wherein: ultrasonic emitting head and ultrasound wave receive head collection
On Cheng Yi block PCB, target lathe is detected.
Described upper computer module, it includes the regulation and control software of bluetooth communication module and PC end, and bluetooth communication module is used for
Realizing the data transmission between host computer and microprocessor, the regulation and control software of PC end is for a certain part manufacturing procedure order
Input, as it is shown in figure 5, be made up of communication port setting district, operation input area, operation viewing area and data reception area.Wherein, communication
Mouth setting area is for being configured communication port, and operation input area inputs corresponding operation, operation viewing area for technologist
For showing the operation that current institute inputs or is carrying out, data receiver district is used for receiving logistic car institute feedack.
In order to calculate the optimal path of logistic car, the present invention is provided with coordinates measurement algorithm, and this algorithm can be according to thing
Stream car current location and target location automatically generate the travel path of logistic car, the problem belonging to path planning one class.This algorithm
Being processed place, workshop coordinate, as shown in Figure 6, straight line therein represents the electromagnetic guide line in simulation place, workshop,
The lathe of box indicating road both sides.For the ease of computer representation and computing, by the position in simulation place, workshop with coordinate
Form show, the coordinate of intersection point and corner is set to even number point, such that it is able to by the point at lathe with the shape of integer
Formula shows, it is to avoid use real-coded GA, saves memory headroom, reduces operand.
Described coordinates measurement algorithm includes setting up coordinate, path planning step.
After setting up coordinate, the path that point-to-point transmission is the shortest can be found out relatively simplely.Although tracking logistic car uses
Servos control front-wheel realizes turning to, thus is difficult to pivot stud 180 °, increases the difficulty of path planning, but the present invention
Algorithm still can not generate optimal path in the case of pivot stud 180 °.
The mode of employing dry run, the most first acquisition changing coordinates and coordinates of targets during path planning, dry run, every time
Change and simulate present coordinate values, and record the corresponding steering order of each dry run, until the logistic car of dry run arrives
When coordinates of targets, i.e. simulation present coordinate values and coordinates of targets value overlap, path planning completes, and logistic car is according to dry run institute
The steering order obtained runs.
Described coordinates measurement algorithm, as it is shown in fig. 7, specific as follows:
Step 1: whether first detection simulation present coordinate values overlaps with coordinates of targets, as overlapped, exports steering order, if
Misaligned, detect current direction whether on the coordinates of targets direction relative to simulation present coordinate values, if not in correct side
To, then use step 2 to attempt being adjusted to logistic car be correctly oriented.
Step 2: owing to logistic car is likely to be at straight line portion, it is impossible to travel direction adjusts operation, is in such situation
Under, then preferentially logistic car is moved forward a step, making logistic car be in can be in the case of adjustment direction.When logistic car can be adjusted
Perfect square to time, first attempt to be adjusted to the direction of logistic car on the coordinates of targets direction relative to simulation present coordinate values.If
Coordinates of targets is relative to the direction of simulation present coordinate values just at the rear of logistic car, and logistic car can not carry out original place
180 ° of commutations, need to use step 3 to solve this problem by the way of freely commutating.
Step 3: judge the position of logistic car, the dead band (direction that can not advance) of detection logistic car, specifically use mould
The mode intended carries out dead band detection, it may be assumed that if logistic car turns to whether this direction can form dead band, owing to dead band all concentrates on
The periphery of road, so needing only to detect road periphery.After drawing dead band, logistic car is turned to beyond dead band
Direction, owing to, at any one node, logistic car at most can only turn to both direction, thus the most surplus after getting rid of dead band
Next direction, if not having dead band, then turns to, according to the priority set in algorithm, the direction that priority is higher.
Repeat above step 1, step 2, step 3, until simulation present coordinate values overlaps with the coordinate of target location, now
Whole calculating process terminates, the steering order output each step generated, and obtains final path.
Below with logistic car from coordinate (0,3), direction upwards, illustrates that as a example by the path of coordinate (0,1) coordinates measurement is calculated
Method:
Logistic car is positioned at (0,3), and direction is (0,1) to Y-axis positive direction, target, and being correctly oriented should be to Y-axis losing side
To.Owing to logistic car is in straight line portion, it is impossible to turn to, according to step 2, logistic car should move to Y-axis positive direction, simulation
Present coordinate values is updated to (0,4), can turn to, but turns left or turn right all can not go to be correctly oriented, according to step
3, it is dead band that algorithm finds out left-hand rotation, so turning right and advancing to next signaling point, simulation present coordinate values is updated to (2,4).This
Time, it being correctly oriented as to Y-axis negative direction or to X-axis negative direction, current location can go to Y-axis negative direction, so, according to step
Rapid 2, logistic car right turn Y-axis negative direction.Now, direction is towards Y-axis negative direction, in the proper direction, can advance, and simulation is worked as
Front coordinate figure is updated to (2,2), now still the most in the proper direction, moves on, simulation present coordinate values be updated to (2,
0).Correct direction is to X-axis negative direction or to Y-axis positive direction, can turn right to X-axis negative direction.The most in the proper direction
Advancing, simulation present coordinate values is updated to (0,0).Correct direction is Y-axis positive direction, can turn right to Y-axis positive direction, readvance
One lattice, simulation present coordinate values is updated to (0,1).Now, simulation present coordinate values overlaps with coordinates of targets, and path computing is complete
Becoming, export the steering order that each step obtains, logistic car i.e. carries out motion according to the steering order obtained and arrives objective.
In actual production, works engineer is according to the production process of personalized customization, by defeated for a series of objective
Entering system, logistic car can automatically generate a series of action command, guides logistic car to arrive objective one by one, completes zero
The dispensing of part.Further, this program uses the form storage objective of queue, constantly updates simulation present coordinate values simultaneously,
Owing to using linked data structure, coordinates of targets point renewal speed is fast, and amount of storage is big, on the premise of internal memory allows, in theory
Infinite number of impact point can be stored, and the quantity of impact point does not interferes with the speed that program performs.This makes this logistic car can
With the production process that competent factory is extremely complex.
Above-mentioned based on K60 electromagnetic guide formula Intelligent tracking logistic car that the present invention provides, can not only be raw according to flexibility
The requirement produced, in the case of workshop hardware configuration is constant, by part intelligent distribution to each station, it is achieved enterprise is in industry 4.0
The developing goal of " on-demand production, customization of individual character " under system.Further, under the influence of " made in China 2025 " set general plan, not
Carrying out the intelligent vehicle for logistic industry will be towards more intelligent and Self-Reliance development, and the demand in enterprise is also the most very
Strongly.Therefore, the research of this Intelligent tracking logistic car has highly important theory significance and realistic meaning.
Above-mentioned based on K60 electromagnetic guide formula Intelligent tracking logistic car that the present invention provides, by simulation field, workshop
It is tested by ground.White road center is covered with electromagnetic guide line, forms that straight way, quarter bend, T-shaped be curved and cross curved four
Plant road conditions.Electromagnetic guide line is a diameter of 0.1-1.0mm enamel-covered wire, is wherein connected with the alternating current of 20kHz, 100mA, frequently
Rate scope 20k ± 1k, electric current is 100 ± 20mA, therefore, can produce magnetic field around electromagnetic guide line.The electromagnetism of logistic car passes
Sensor judges the position of logistic car according to the field signal detected.Lathe required for processing is dispersed in electromagnetic guide line two
Side, when logistic car i.e. opens ultrasonic distance measuring module after objective, when logistic car distance lathe reaches setpoint distance,
I.e. stop and unload part.
The electromagnetic guide formula Intelligent tracking logistic car based on K60 that the present invention provides, its work process is: technologist beats
After opening manufacturing procedure the confirmation that host computer inputs corresponding part, the coordinates measurement algorithm of logistic car is quickly generated optimum road
Footpath, and run according to this path, after target lathe, i.e. automatically opening up ultrasonic wave module, ultrasonic wave module is detecting
When distance objective lathe is nearer, stop and unloading part, and load and transport the part after processing to next target lathe, directly
After completing to whole manufacturing procedure, return starting point and continue dispensing.
Claims (10)
1. an electromagnetic guide formula Intelligent tracking logistic car based on K60, it is characterised in that main by microprocessor module, and
The mechanical system that is connected with microprocessor module by data wire, electromagnetic sensing module, power management module, motor drive mould
Block, servo driving module, ultrasound wave parking module, upper computer module form.
Electromagnetic guide formula Intelligent tracking logistic car based on K60 the most according to claim 1, it is characterised in that described is micro-
Processor module, is contained in the middle part of logistic car, processes for the information being inputted sensor and carries out other module
Control in real time, be made up of microcontroller, SR, power interface, JTAG download interface and other input/output interface, described
Microcontroller uses K60 microcontroller chip.
Electromagnetic guide formula Intelligent tracking logistic car based on K60 the most according to claim 1, it is characterised in that described machine
Tool system, is used for the driving to logistic car and turns to, by motor drive module, gear drive and servo driving module group
Become, wherein: motor drive module uses RS-540 motor to be driven trailing wheel, after electric machine rotation, will be dynamic by gear mechanism
Power passes to trailing wheel, drives rear wheel movement, has differential mechanism simultaneously, turn more smoothly with both subsidiary streams car between two trailing wheels；Rudder
Machine drives module to use SD-5 steering wheel, and steering wheel turns an angle and imparts power to front-wheel by fork, completes left and right and beats angle,
Realize the turning of logistic car.
Electromagnetic guide formula Intelligent tracking logistic car based on K60 the most according to claim 1, it is characterised in that described electricity
Magnetic sensing module, is contained in the front end of logistic car, and it is by the LC resonance circuit being connected with the signal of telecommunication, filter circuit, amplifying circuit, inspection
Wave circuit forms, and it is according to the principle of LC resonance, chooses 10mH inductance and 6.8nF electric capacity as LC resonance circuit, generation sensing
Electric current, then by filtering, amplification, detection, then result is sent into single-chip microcomputer and carries out AD process, to judge road current information.
Electromagnetic guide formula Intelligent tracking logistic car based on K60 the most according to claim 1, it is characterised in that described electricity
Machine drives module, is contained in logistic car rear portion near rear wheels, is used for driving motor, is made up of motor and drive circuit, wherein: drive
Circuit uses BTN7971 high-intensity currrent Half-bridge motor driving chip, this circuit utilize two panels BTN7971 constitute one complete
Full-bridge drives, to realize the rotating forward of motor, reversion and skidding.
Electromagnetic guide formula Intelligent tracking logistic car based on K60 the most according to claim 1, it is characterised in that described rudder
Machine drives module, is contained in logistic car front end near front wheels, is used for controlling steering wheel, is made up of power supply stabilization circuit and steering wheel, wherein:
Steering wheel power supply stabilization circuit is powered, and this power supply stabilization circuit is made up of NCP3020 chip and peripheral cell thereof, by surely
Pressure, uses the power supply of 6V to power to steering wheel.
Electromagnetic guide formula Intelligent tracking logistic car based on K60 the most according to claim 1, it is characterised in that described is super
Sound wave parking module, is contained in logistic car both sides, is used for judging whether to arrive at target lathe, and this ultrasound wave parking module is by integrated
Ultrasonic emitting head and ultrasound wave on one piece of PCB receive head composition, detect target lathe.
Electromagnetic guide formula Intelligent tracking logistic car based on K60 the most according to claim 1, it is characterised in that described is upper
Position machine module, it includes the regulation and control software of bluetooth communication module and PC end, and bluetooth communication module is used for realizing host computer and Wei Chu
Data transmission between reason device, the regulation and control software of PC end, for the input to a certain part manufacturing procedure order, is set by communication port
Put district, operation input area, operation viewing area and data reception area composition, wherein: communication port setting district is for carrying out communication port
Arranging, operation input area inputs corresponding operation for technologist, and operation viewing area is used for showing and is currently inputted or
The operation performed, data receiver district is used for receiving logistic car institute feedack.
Electromagnetic guide formula Intelligent tracking logistic car based on K60 the most according to claim 1, it is characterised in that this logistic car
Being provided with coordinates measurement algorithm, it automatically generates the travel path of logistic car according to logistic car current location and target location.
Electromagnetic guide formula Intelligent tracking logistic car based on K60 the most according to claim 1, it is characterised in that described road
Footpath generating algorithm comprises the following steps:
Step 1: whether first detection simulation present coordinate values overlaps with coordinates of targets, as overlapped, exports steering order, if not weighing
Close, detect current direction whether on the coordinates of targets direction relative to simulation present coordinate values, if not being correctly oriented, then
Step 2 is used to attempt being adjusted to logistic car be correctly oriented；
Step 2: owing to logistic car is likely to be at straight line portion, it is impossible to travel direction adjusts operation, is under such situation, then
Preferentially logistic car being moved forward a step, making logistic car be in can be in the case of adjustment direction；When logistic car can the side of adjustment
Xiang Shi, first attempts to be adjusted in the direction of logistic car on the coordinates of targets direction relative to simulation present coordinate values；If target
Coordinate is relative to the direction of simulation present coordinate values just at the rear of logistic car, and logistic car can not carry out 180 ° of original place and change
To, step 3 need to be used to solve this problem by the way of freely commutating；
Step 3: judge the position of logistic car, the dead band of detection logistic car, specifically use the mode of simulation to carry out dead band detection,
That is: if, logistic car turns to whether this direction can form dead band, all concentrates on the periphery of road due to dead band, so only needing
Road periphery is detected；After drawing dead band information, logistic car is turned to the direction beyond dead band, if being formed without dead
District, then turn to, according to the priority set in algorithm, the direction that priority is higher；
Repeat above step 1, step 2, step 3, until simulation present coordinate values overlaps with the coordinate of target location, the most whole
Calculating process terminates, the steering order output each step generated, and obtains final path.
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| CN107140351A (en) * | 2017-06-22 | 2017-09-08 | 张珺虞 | Multifunctional intelligent garbage bin |
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